A vehicle

Abstract

The present application provides a vehicle, which includes a vehicle body, a laser radar and a shield. The vehicle body includes a frame and a shell, the shell is installed on the frame, the shell includes a shell body and a accommodating cavity protruding outward, the accommodating cavity includes an installation port facing the inside of the vehicle body and an opening facing the front and lower part of the vehicle body, and the shell body is provided with an expansion port, which extends from the junction of the opening and the shell body along the direction of the opening; the laser radar is connected to the frame and is located in the accommodating cavity, and the lens of the laser radar is aligned with the opening of the accommodating cavity, and the expansion port is used to make the line of sight of the laser radar within a preset range; the shield is installed at the lens of the laser radar, and the outer wall of the shield is adapted to the inner wall at the opening of the accommodating cavity. The design of the vehicle can meet the requirements of vehicle body width and appearance, and ensure the line of sight of the laser radar.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular, to a vehicle. Background Art

[0002] LiDAR is the product of the combination of laser technology and radar technology. Its main function is to accurately measure the target position (distance and angle), motion state (speed, vibration and posture) and shape, detect, identify, distinguish and track targets, and is widely used in various fields.

[0003] With the development of science and technology and the demand for transportation, unmanned vehicles and autonomous driving vehicles are also gradually developing. Among them, the use of laser radar for ranging and positioning has also been widely used in the vehicle field. In the existing technology, based on the need for distance measurement, laser radar is generally configured on the vehicle body. In order to meet the requirements of vehicle body width and appearance, the distance between the laser radar and the vehicle body is as small as possible, but this will cause the vehicle body to block the line of sight of the laser radar, affecting the detection results of the laser radar. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a vehicle whose design can meet the requirements of body width and appearance while ensuring the field of view of the laser radar.

[0005] An embodiment of the present application provides a vehicle, which includes a vehicle body, a laser radar and a protective shield. The vehicle body includes a frame and a shell, the shell is installed on the frame, the shell includes a shell body and an outwardly protruding accommodating cavity, the accommodating cavity includes an installation port facing the interior of the vehicle body and an opening facing the front and lower part of the vehicle body, and an expanded view port is opened on the shell body, and the expanded view port extends from the junction of the opening and the shell body along the direction of the opening; the laser radar is connected to the frame and is located in the accommodating cavity with the lens of the laser radar aligned with the opening of the accommodating cavity, and the expanded view port is used to make the line of sight of the laser radar within a preset range; the protective shield is installed at the lens of the laser radar, and the outer wall of the protective shield is adapted to the inner wall of the opening of the accommodating cavity.

[0006] In the above implementation process, the present application improves the coordination of the overall appearance of the vehicle by setting a shield to block the gap between the accommodating cavity and the lens of the laser radar. At the same time, an expanded viewport extending from the junction of the opening and the shell body along the opening direction is opened on the shell body, that is, the part of the front of the opening on the shell that blocks the laser radar's line of sight is removed, so as to avoid the structure at the bend or corner of the shell from blocking the laser radar's line of sight, and the opening is exposed in a larger angle range, thereby effectively expanding the laser radar's line of sight. Therefore, the vehicle provided by the embodiment of the present application can meet the requirements of the body width and appearance, and can also ensure the laser radar's line of sight.

[0007] In a possible implementation, an angle between an extension direction of the expanded viewport and a perpendicular line of the opening is 0°-30°.

[0008] In the above implementation process, when the angle between the extension direction of the expanded viewport and the perpendicular line of the opening is 0, that is, the extension direction of the expanded viewport is parallel to the perpendicular line of the opening, the blocking structure directly in front of the opening on the shell can be cleared; when the angle between the extension direction of the expanded viewport and the perpendicular line of the opening is greater than 0, the blocking structure in front of the opening side on the shell body can be cleared, thereby effectively expanding the field of view of the laser radar at the bend or corner of the shell.

[0009] In a possible implementation, the shell body includes a main body shell and an assembly shell, the main body shell is provided with an assembly opening, the assembly shell is spliced ​​with the main body shell to block the assembly opening, and the accommodating cavity is provided on the assembly shell.

[0010] In the above implementation process, due to the provision of a detachable assembly shell, the vehicle in the present application can realize the installation sequence of the vehicle body first and then the laser radar. The assembly shell is connected to the main body shell or frame instead of the laser radar, that is, there is no relevant matching connection between the assembly shell and the laser radar, so the assembly shell will not affect the position accuracy of the laser radar during the disassembly process, and unnecessary repeated calibration of the laser radar can be avoided.

[0011] In a possible implementation, the vehicle also includes a water baffle, which is located between the frame and the assembly shell, and the water baffle and the inner wall of the main shell tightly cover the assembly port; a connecting hole is provided on the water baffle at a position corresponding to the accommodating cavity to enable the laser radar to be connected to the frame.

[0012] In the above implementation process, a water retaining plate is set to cover the assembly port, and only a smaller connection hole is reserved for the connection of the laser radar. This can prevent external rainwater from entering the vehicle body through the accommodating cavity during daily operation, thereby protecting the internal components of the vehicle body.

[0013] In one possible implementation, the vehicle provided in the present application also includes a bracket and an angle adjustment device arranged on the bracket, the bracket is connected to the frame, the laser radar is installed on the angle adjustment device, and the angle adjustment device is used to adjust the installation angle of the laser radar.

[0014] In the above implementation process, the installation method of installing the laser radar on the frame through the bracket can make up the distance between the laser radar and the frame, simplify the installation structure, and the bracket and the angle adjustment device can assist the heat dissipation of the laser radar and reduce the heat introduced by the laser radar into the vehicle body. The angle adjustment device can adjust the installation angle of the laser radar so that the lens of the laser radar can be aligned with the opening of the accommodating cavity.

[0015] In a possible implementation, the laser radar is detachably mounted on the angle adjustment device.

[0016] In the above implementation process, the laser radar and the angle adjustment device are detachably mounted to facilitate the maintenance or replacement of the laser radar.

[0017] In a possible implementation, the bracket is a heat conducting bracket.

[0018] In the above implementation process, setting the bracket as a heat-conducting bracket can accelerate the dissipation of heat from the laser radar and improve the heat dissipation efficiency.

[0019] In a possible implementation, the protective cover is provided with an exposure opening for exposing the lens of the laser radar.

[0020] In the above implementation process, the protective cover installed at the laser radar lens can improve the coordination between the laser radar and the overall appearance of the vehicle and the sealing of the laser radar installation, and the protective cover directly installed on the laser radar can reduce the assembly deviation between the laser radar and the protective cover, ensuring the normal line of sight of the laser radar. Opening a revealing port on the protective cover to expose the laser radar lens can avoid the protective cover blocking the laser radar's line of sight.

[0021] In a possible implementation, the shield is snapped onto a lens of the laser radar.

[0022] In the above implementation process, the shield is detachably connected to the laser radar by snap-on connection, with a simple structure and easy installation and operation.

[0023] In a possible implementation, the accommodating cavity is located on the side of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 An exploded structural diagram of a vehicle part provided in an embodiment of the present application;

[0026] Figure 2 A structural diagram of an assembly shell provided in an embodiment of the present application;

[0027] Figure 3 A partial assembly structure diagram of a vehicle provided in an embodiment of the present application.

[0028] Icons: 100-vehicle body; 110-skeleton; 111-body frame; 112-side frame; 120-shell body; 121-accommodating cavity; 122-opening; 200-laser radar; 210-lens; 123-main body shell; 124-assembly shell; 125-assembly port; 126-expanded viewing port; 300-water baffle; 310-connecting hole; 220-bracket; 230-protective cover; 231-exposure port. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0030] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0031] The present application embodiment provides a vehicle, please refer to Figure 1 and Figure 3 , Figure 1 An exploded structural diagram of a vehicle part provided in an embodiment of the present application; Figure 3 A partial assembly structure diagram of a vehicle provided in an embodiment of the present application. The vehicle includes a vehicle body 100, a laser radar 200 and a shield 230. The vehicle body 100 includes a frame 110 and a shell. The shell is installed on the frame 110. The shell includes a shell body 120 and an outwardly protruding accommodating cavity 121. The accommodating cavity 121 includes an installation port facing the interior of the vehicle body and an opening 122 facing the front and lower part of the vehicle body. An expanded viewport 126 is opened on the shell body 120. The expanded viewport 126 extends from the junction of the opening 122 and the shell body 120 in the direction of the opening 122; the laser radar 200 is connected to the frame 110 and is located in the accommodating cavity 121. The lens 210 of the laser radar 200 is aligned with the opening 122 of the accommodating cavity 121. The expanded viewport 126 is used to make the line of sight of the laser radar 200 within a preset range; the shield 230 is installed at the lens 210 of the laser radar 200, and the outer wall of the shield 230 is adapted to the inner wall at the opening 122 of the accommodating cavity 121.

[0032] In the above implementation process, when assembling the vehicle, the frame 110 is generally installed first, and the laser radar 200 is installed on the frame 110, and then the accommodating cavity 121 on the shell is aligned with the laser radar 200 and installed on the frame 110. However, there is a certain deviation in the matching installation of the accommodating cavity 121 on the shell and the laser radar 200, which may come from the processing and manufacturing process of the accommodating cavity 121, or from the installation of the shell. Therefore, in order to be able to accommodate the laser radar 200 in the accommodating cavity 121, the internal dimensions of the accommodating cavity 121 are generally designed to be larger than the internal dimensions of the laser radar 200, and the opening 122 of the accommodating cavity 121 is designed to be larger than the lens 210 of the laser radar 200, so as to prevent the accommodating cavity 121 from blocking the line of sight of the lens 210 of the laser radar 200 due to the installation deviation. However, at the same time, a gap will be formed between the inner wall of the opening 122 of the accommodating cavity 121 and the lens 210 of the laser radar 200, affecting the coordination of the overall appearance of the vehicle. Therefore, the vehicle of the present application is provided with a protective cover 230 on the lens 210 of the laser radar 200, and the outer wall of the protective cover 230 is adapted to the inner wall of the accommodating cavity 121, thereby blocking the gap between the accommodating cavity 121 and the lens 210 of the laser radar 200, thereby improving the coordination of the overall appearance of the vehicle.

[0033] At the same time, in order to meet the requirements of vehicle body width and appearance, the accommodating cavity 121 is generally arranged as close to the vehicle body as possible, but this may cause the structure of the vehicle body itself to block the implementation range of the laser radar 200, especially the bending structure or corner structure of the vehicle body. Therefore, the vehicle of the present application is provided with an expanded viewport 126 on the shell body 120, which extends from the junction of the opening 122 and the shell body 120 along the direction of the opening 122, that is, the part in front of the opening 122 on the shell that blocks the line of sight of the laser radar 200 is removed, so as to avoid the structure at the bending or corner of the shell from blocking the line of sight of the laser radar 200, and expose the opening 122 within a larger angle range, thereby effectively expanding the line of sight of the laser radar 200.

[0034] It should be understood that the direction of the opening 122 refers to a direction away from the extending surface of the opening 122 , that is, a direction from the opening 122 of the accommodating cavity 121 to the outside.

[0035] It should be understood that the preset range includes the range defined by the opening 122 and the expanded viewport 126. When there is no expanded viewport 126 on the housing, the sight range of the laser radar 200 through the opening 122 is the sight range of the opening 122, and the preset range is larger than the sight range of the opening 122.

[0036] In the prior art, the installation of the laser radar 200 is generally performed by setting a mounting shell on the body shell, and then installing the laser radar 200 in the mounting shell. However, if the mounting shell is directly installed on the body shell, the mounting shell cannot be smoothly connected with the body, resulting in an inconsistent overall appearance of the body. Compared with the installation method of the laser radar 200 in the prior art, the embodiment of the present application directly configures a housing cavity 121 with an opening 122 at one end on the shell of the vehicle body 100, sets the laser radar 200 in the housing cavity 121, and connects the laser radar 200 to the skeleton 110 to achieve a fixed installation between the laser radar 200 and the vehicle body 100. It can be seen that the installation of the laser radar 200 of the vehicle provided by the present application forms a housing cavity 121 for accommodating the laser radar 200 through the shell itself, without the need to set a mounting shell on the shell separately, which effectively ensures the coordination of the overall appearance of the vehicle, and compared with the connection with the shell, the laser radar 200 is directly connected to the skeleton 110 of the vehicle, which can better ensure the stability of the installation of the laser radar 200.

[0037] Optionally, the shape of the accommodating cavity 121 can be designed according to the shape of the laser radar 200 and the overall appearance of the vehicle body, such as square, round or Figure 1 The horn shape shown in .

[0038] Optionally, if the shell is integrally formed, when assembling the vehicle, the frame 110 can be assembled first, and then the laser radar 200 can be installed on the frame 110 , and finally the accommodating cavity 121 of the shell is aligned with the laser radar 200 and installed on the frame 110 .

[0039] In a possible implementation, the included angle between the extension direction of the expanded view port 126 and the perpendicular line of the opening 122 is 0°-30°.

[0040] In the above implementation process, when the angle between the extension direction of the expanded viewport 126 and the perpendicular line of the opening 122 is 0, that is, the extension direction of the expanded viewport 126 is parallel to the perpendicular line of the opening 122, the blocking structure directly in front of the opening 122 on the shell can be cleared; when the angle between the extension direction of the expanded viewport 126 and the perpendicular line of the opening 122 is greater than 0, the blocking structure in front of the side of the opening 122 on the shell can be cleared, thereby effectively expanding the field of view of the laser radar 200 at the bend or corner of the shell.

[0041] It should be understood that the perpendicular line of the opening 122 is a perpendicular line of the extending plane of the opening 122 .

[0042] Optionally, the angle between the extension direction of the expanded view port 126 and the perpendicular line of the opening 122 may be 0, that is, the extension direction of the expanded view port 126 extending outward may be parallel to the perpendicular line of the opening 122, such as Figure 1-3The included angle between the outward extending direction of the expanded view port 126 and the vertical line of the opening 122 may also be 5°, 10°, 20° or 30°.

[0043] In one possible implementation, see Figure 1-3 ,in Figure 2 A structural diagram of an assembly shell 124 is provided in an embodiment of the present application. The shell body 120 includes a main shell 123 and an assembly shell 124. The main shell 123 is provided with an assembly opening 125. The assembly shell 124 is spliced ​​with the main shell 123 to block the assembly opening 125. The accommodating cavity 121 is arranged on the assembly shell 124.

[0044] In the above implementation process, when assembling the vehicle, the main body shell 123 can be directly installed on the skeleton 110 first, and the assembly port 125 on the main body shell 123 exposes the skeleton 110, and then the laser radar 200 is installed on the skeleton 110 through the assembly port 125, and finally the assembly shell 124 is assembled, and the accommodating cavity 121 on the assembly shell 124 is aligned with the laser radar 200 and installed on the vehicle body 100, and spliced ​​with the main body shell 123 to form a coordinated and unified shell body 120.

[0045] In this implementation, due to the provision of a detachable assembly shell 124, the vehicle in the present application can realize the installation sequence of the vehicle body 100 first and then the laser radar 200. The assembly shell 124 is connected to the main body shell 123 or the frame 110, rather than the laser radar 200, that is, there is no relevant mating connection between the assembly shell 124 and the laser radar 200, so the assembly shell 124 will not affect the position accuracy of the laser radar 200 during the disassembly process, and unnecessary repeated calibration of the laser radar 200 can be avoided.

[0046] Optionally, the assembly shell 124 is detachably connected to the main shell 123 or detachably connected to the skeleton 110. For example, the assembly shell 124 is snapped into the main shell 123, or the assembly shell 124 is detachably installed on the skeleton 110 by fasteners such as screws and bolts. This embodiment of the present application is not limited to this.

[0047] In some embodiments, the skeleton 110 includes a body skeleton 111 and a side frame 112. The body skeleton 111 is arranged on the inner side of the shell body 120 for supporting the shell body 120. The side frame 112 is connected to the body skeleton 111. The side frame 112 extends into the assembly opening 125 and covers the edge portion of the assembly opening 125. The assembly shell 124 can be detachably installed on the side frame 112.

[0048] In the above embodiment, the side frame 112 is disposed at the assembly opening 125 , which can reduce the distance between the assembly shell 124 and the frame 110 , thereby facilitating the installation of the assembly shell 124 .

[0049] In a possible implementation, an installation opening (not shown in the figure) is opened on the assembly shell 124, and the assembly shell 124 extends outward from the installation opening by a predetermined distance to form a accommodating cavity 121, and the laser radar 200 passes through the installation opening and is located in the accommodating cavity 121.

[0050] In the above implementation process, when installing the assembly shell 124, the installation port is aligned with the laser radar 200 for installation, so that the laser radar 200 enters the accommodating cavity 121 through the installation port, and finally the laser radar 200 is stored in the accommodating cavity 121, and the lens 210 of the laser radar 200 is aligned with the opening 122 of the accommodating cavity 121.

[0051] It should be understood that the above-mentioned predetermined distance refers to the distance that enables the laser radar 200 to be accommodated in the accommodating cavity 121 and the lens 210 to be aligned with the opening 122.

[0052] It should be noted that the assembly opening 125 is adapted to the assembly shell 124, that is, the size of the assembly opening 125 is adapted to the size of the assembly shell 124, and the installation opening is opened on the assembly shell 124. Obviously, the assembly opening 125 is larger than the installation opening. For details, please refer to Figure 1 .

[0053] Optionally, the position of the opening 122 on the accommodating cavity 121 can be opposite to the installation port, or can be specifically set according to the actual line of sight requirements of the laser radar 200, for example, the opening 122 is facing the lower rear, lower front, upper rear or upper front of the vehicle, etc., which is not limited to the embodiments of the present application.

[0054] In a possible implementation, the vehicle also includes a water baffle 300, which is located between the skeleton 110 and the assembly shell 124, and the water baffle 300 and the inner wall of the main body shell 123 tightly cover the assembly port 125; a connecting hole 310 is provided on the water baffle 300 at a position corresponding to the accommodating cavity 121 to connect the laser radar 200 to the skeleton 110.

[0055] In the above implementation process, a water retaining plate 300 is set to cover the assembly port 125, and only a smaller connection hole 310 is reserved for the connection of the laser radar 200. This can prevent external rainwater from entering the vehicle body 100 through the accommodating cavity 121 during daily operation, thereby protecting the internal components of the vehicle body 100.

[0056] It should be noted that when the laser radar 200 is installed on the frame 110 using bolts or screws, the size of the connecting hole 310 can be set according to the specific outer diameter of the bolts or screws.

[0057] In one possible implementation, the vehicle provided in the present application also includes a bracket 220 and an angle adjustment device (not shown in the figure) arranged on the bracket 220, the bracket 220 is connected to the skeleton 110, and the laser radar 200 is installed on the angle adjustment device, and the angle adjustment device is used to adjust the installation angle of the laser radar 200.

[0058] In the above implementation process, the installation method of installing the laser radar 200 on the frame 110 through the bracket 220 can make up for the distance between the laser radar 200 and the frame 110, simplify the installation structure, and the bracket 220 and the angle adjustment device can assist the heat dissipation of the laser radar 200 and reduce the heat introduced by the laser radar 200 into the vehicle body 100. The angle adjustment device can adjust the installation angle of the laser radar 200 so that the lens 210 of the laser radar 200 can be aligned with the opening 122 of the accommodating cavity 121.

[0059] Optionally, the angle adjustment device may adopt an existing angle adjuster or angle adjustment disk, etc. The embodiment of the present application does not limit the structure of the angle adjustment device.

[0060] In a possible implementation, the laser radar 200 can be detachably mounted on the angle adjustment device.

[0061] In the above implementation process, the laser radar 200 and the angle adjustment device are detachably mounted to facilitate the maintenance or replacement of the laser radar 200.

[0062] In a possible implementation, the bracket 220 is a heat conducting bracket.

[0063] In the above implementation process, setting the bracket 220 as a heat-conducting bracket can accelerate the heat dissipation of the laser radar 200 and improve the heat dissipation efficiency.

[0064] Specifically, the bracket 220 can be made of metal material or alloy material, such as aluminum alloy material with light weight, high strength and high dimensional accuracy, which is not limited in the embodiment of the present application.

[0065] In some embodiments, the protective cover 230 is a transparent cover that covers the opening 122 , thereby isolating the lens 210 of the laser radar 200 in the accommodating cavity 121 to prevent external factors from damaging the lens 210 of the laser radar 200 , and also to prevent rainwater from entering the interior of the vehicle body 100 through the opening 122 .

[0066] In a possible implementation, the protective cover 230 is provided with an exposure opening 231 for exposing the lens 210 of the laser radar 200 .

[0067] In the above implementation process, the protective cover 230 is installed at the lens 210 of the laser radar 200, which can improve the coordination between the laser radar 200 and the overall appearance of the vehicle and the sealing of the laser radar 200 installation, and the protective cover 230 is directly installed on the laser radar 200 to make up for the assembly deviation between the laser radar 200 and the protective cover 230, ensuring the normal line of sight of the laser radar 200. The exposure port 231 is opened on the protective cover 230 to expose the lens 210 of the laser radar 200, which can prevent the protective cover 230 from blocking the line of sight of the laser radar 200.

[0068] In one possible implementation, the shield 230 is snapped onto the lens 210 of the laser radar 200 .

[0069] In the above implementation process, the shield 230 is detachably connected to the laser radar 200 by snap-fitting, with a simple structure and convenient installation and operation.

[0070] In a possible implementation, the accommodating cavity 121 is located on the side of the vehicle body.

[0071] Optionally, the accommodating cavity 121 is located at the side of the vehicle body near the rear of the vehicle, or the accommodating cavity 121 is located at the rear of the vehicle body. The position of the accommodating cavity 121 can be specifically selected based on the design of the vehicle body 100 and the performance and functional requirements of the laser radar 200, and the embodiment of the present application is not limited to this.

[0072] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0073] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0074] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A vehicle, It is characterized in that include: The vehicle body comprises a frame and a shell, wherein the shell is mounted on the frame, the shell comprises a shell body and an outwardly protruding accommodation cavity, the accommodation cavity comprises an installation opening facing the interior of the vehicle body and an opening facing the front lower portion of the vehicle body, and the shell body is provided with an expansion opening, wherein the expansion opening extends from the junction of the opening and the shell body in the direction of the opening; A laser radar connected to the frame and located in the accommodating cavity with a lens of the laser radar aligned with the opening of the accommodating cavity, wherein the expanded viewport is used to make the sight range of the laser radar within a preset range; A protective cover, which is mounted on the lens of the laser radar, and the outer wall of the protective cover is matched with the inner wall of the opening of the accommodating cavity; The angle between the extension direction of the expanded view port and the perpendicular line of the opening is 0°-30°, and the perpendicular line of the opening is the perpendicular line of the extension plane of the opening; The shape of the accommodating cavity is horn-shaped.

2. The vehicle according to claim 1, It is characterized in that The shell body comprises a main body shell and an assembly shell. The main body shell is provided with an assembly opening. The assembly shell is spliced ​​with the main body shell to block the assembly opening. The accommodating cavity is arranged on the assembly shell.

3. The vehicle according to claim 2, It is characterized in that It also includes a water baffle, which is located between the frame and the assembly shell, and the water baffle and the inner wall of the main body shell are tightly attached to cover the assembly opening; A connection hole is provided on the water retaining plate at a position corresponding to the accommodating cavity so as to connect the laser radar to the frame.

4. The vehicle according to any one of claims 1 or 2, It is characterized in that It also includes a bracket and an angle adjustment device arranged on the bracket, the bracket is connected to the frame, the laser radar is installed on the angle adjustment device, and the angle adjustment device is used to adjust the installation angle of the laser radar.

5. The vehicle according to claim 4, It is characterized in that The laser radar is detachably mounted on the angle adjustment device.

6. The vehicle according to claim 4, It is characterized in that The bracket is a heat-conducting bracket.

7. The vehicle according to any one of claims 1 to 3, It is characterized in that The protective cover is provided with an exposure opening for exposing the lens of the laser radar.

8. The vehicle according to claim 7, It is characterized in that The protective cover is clamped on the lens of the laser radar.

9. The vehicle according to any one of claims 1 to 3, It is characterized in that The accommodating cavity is located at the side of the vehicle body.

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